Simrad PSIMS2 datagram format
Simrad PSIMS2 is a proprietary datagram format created by Kongsberg Discovery to provide the door spread. It also provides the horizontal distance and the slant range between the vessel and the sensor, as well as the true bearing. These values are used together with the GPS position of the vessel to calculate the position of the sensor.
Format
$PSIMS2,xx,M,yy,M,z.z,T,g.g,M,hhmmss*hh<CR><LF>
Description
1 $PSIMS2Talker identifier
2 xx,MSlant Range to sensor (metres)
3 yy,MHorizontal range to sensor (metres)
4 z.z,TTrue Bearing (metres)
5 g.g,MSpread (metres)
6 hhmmssTime of transmission
7 *hhChecksum